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float32
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49.7
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int64
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1.49k
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[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -8.439560890197754, -35.868133544921875, -4.439560413360596, 79.51648712158203, -11.384614944458008, 2.0969855785369873 ]
3.1
93
0
93
0
[ -16.50361442565918, -101.19380187988281, 91.27680969238281, 72.25355529785156, -0.03852081298828125, 2.043044090270996, -9.325496673583984, -32.23847579956055, -13.41120719909668, 78.86771392822266, -11.439043998718262, 2.0165207386016846 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -8.439560890197754, -34.373626708984375, -5.934065818786621, 79.25274658203125, -11.472527503967285, 2.0969855785369873 ]
3.133333
94
0
94
0
[ -16.356809616088867, -100.93582153320312, 90.961669921875, 72.1041030883789, -0.13443756103515625, 2.0718812942504883, -9.535778045654297, -33.111053466796875, -13.395744323730469, 79.2824935913086, -11.697203636169434, 1.902836799621582 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -8.527472496032715, -33.846153259277344, -6.989010810852051, 79.07691955566406, -11.472527503967285, 2.0969855785369873 ]
3.166667
95
0
95
0
[ -16.467382431030273, -101.38748168945312, 90.90383911132812, 72.27606201171875, 0.13876724243164062, 2.06695556640625, -9.545612335205078, -31.486961364746094, -15.014083862304688, 78.78297424316406, -11.735138893127441, 1.9568426609039307 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -8.79120922088623, -33.67033004760742, -7.516483306884766, 79.07691955566406, -11.472527503967285, 2.0969855785369873 ]
3.2
96
0
96
0
[ -16.70981788635254, -101.18852233886719, 91.08853149414062, 72.15078735351562, -0.14181137084960938, 2.13344669342041, -9.750648498535156, -30.861194610595703, -16.369972229003906, 80.33634948730469, -11.567474365234375, 1.8064625263214111 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -9.05494499206543, -33.14285659790039, -8.923076629638672, 79.16483306884766, -11.472527503967285, 2.0969855785369873 ]
3.233333
97
0
97
0
[ -16.552799224853516, -101.23368835449219, 90.98213195800781, 72.21227264404297, -0.17444229125976562, 2.073507308959961, -10.530899047851562, -31.387096405029297, -16.213781356811523, 80.4405517578125, -11.8277587890625, 1.7963025569915771 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -9.230769157409668, -33.14285659790039, -10.593406677246094, 79.16483306884766, -11.472527503967285, 2.0969855785369873 ]
3.266667
98
0
98
0
[ -16.70526695251465, -101.15084838867188, 91.12924194335938, 72.13868713378906, 0.0867767333984375, 2.117386817932129, -11.146800994873047, -31.63033676147461, -15.93731689453125, 81.2015609741211, -12.101180076599121, 1.9237256050109863 ]
[ -16.791208267211914, -96.35164642333984, 93.84615325927734, 72.61538696289062, 0.21978022158145905, 2.3653087615966797, -9.406593322753906, -32.52747344970703, -12.351648330688477, 79.42857360839844, -11.472527503967285, 2.0969855785369873 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so_follower",
    "total_episodes": 1,
    "total_frames": 1493,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera3": {
            "dtype": "video",
            "shape": [
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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